//
// Created by jm on 3/27/21.
//

#ifndef CAMSENSE_INCLUDE_CAMSENSE_LIDAR_DATA_H_
#define CAMSENSE_INCLUDE_CAMSENSE_LIDAR_DATA_H_

#include <vector>
struct Range{
  uint8_t light;
  uint8_t range[2];
};
struct RangeDataInfo{
  uint8_t IF{};
  uint8_t DN{};
  uint16_t SP{};
  uint16_t FA{};
  Range ranges[16]{};
  uint16_t LA{};
  uint16_t CS{};

};

struct RangeData {
  int64_t time;
  uint16_t is_valid;
  uint16_t luminance;
  float ori_theta;
  float ori_range;
  float fix_range;
  float fix_theta;
};
#endif //CAMSENSE_INCLUDE_CAMSENSE_LIDAR_DATA_H_
